initial commit

sensors/accelerometer_sensor_node.gd

@@ -0,0 +1,30 @@
+extends BaseSensorNode
+class_name AccelSensorNode
+
+
+var accel_vector: Vector3 = Vector3.ZERO
+var linear_accel_vector: Vector3 = Vector3.ZERO
+var g_accel_vector: Vector3 = Vector3.ZERO
+
+var DOWN = Vector2(0, -1.)
+
+
+# Called when the node enters the scene tree for the first time.
+func _ready() -> void:
+	super._ready()
+	DataSignals.accelerometer_data_received.connect(_on_data_received)
+
+func _on_data_received(source_ip: String, timestamp_list: Array, accel: Array, linear_accel: Array, g_accel: Array):
+	if source_ip != ip_address:
+		return
+	var msg_timestamp = timestamp_list[0] * 3600 + timestamp_list[1] * 60 + timestamp_list[2] + timestamp_list[3]
+	if not Constants.is_timestamp_newer(timestamp, msg_timestamp):
+		return
+	timestamp = msg_timestamp
+	Signals.linear_acceleration_updated.emit(ip_address, linear_accel)
+	var x_z = Vector2(g_accel[0], g_accel[2]).normalized()
+	var y_z = Vector2(g_accel[1], g_accel[2]).normalized()
+	var pitch = DOWN.angle_to(x_z)
+	var roll = y_z.angle_to(DOWN)
+	SensorSignals.pitch_updated.emit(ip_address, pitch)
+	SensorSignals.roll_updated.emit(ip_address, roll)